todo-slam.md

Offline Calibration

InitMk: non-iterative initialization based on mark measurements

Done, https://github.com/hbtang/calibcamodo

OptMk: iterative optimization based on mark measurements

Done, https://github.com/hbtang/calibcamodo

OptV: itarative optimization based on visual features

Todo, ...

InitVO: non-iterative initialization based on visual odometry

Todo, ...

Online Calibration

EKF

Todo, on camera-odometry dataset

MSCKF

Todo, on camera-odometry dataset

VMGKF

Todo, on camera-odometry dataset, and TRO paper revision

Direct Method

LSD-SLAM & DSO

Read their codes, modify on camera-odometry datasets

Visual-IMU

OKVIS

Read their codes, understand everything...

ORB-SLAM 2.0

3D Lidar SLAM

LOAM

LOAM or other SLAM projects, datasets, codes, run, ...

PCL

Or other point cloud library, test, get familiar

Optimizer

G2O

already using, to know more about details, maybe write a new solver, ...

GTSAM

to use, compare

CERES

to use, compare